// T200
#include <stdint.h>
#include <stdio.h> 
#include <unistd.h>
#include <string.h>
#include <stdlib.h>

#include <time.h>
#include <po_hi_time.h>

#define ESC_SERVO_PIN 17 // Defined as such in the original code

// Macros for easier code reading
#define DRIVE_INPUT 0
#define INPUT 0
#define DRIVE_OUTPUT 1
#define OUTPUT 1

// T200 Thruster Pins
#define THRUSTER_1_PIN 2
#define THRUSTER_2_PIN 3
#define THRUSTER_3_PIN 5
#define THRUSTER_4_PIN 6
#define THRUSTER_5_PIN 7

int signal = 1700; // Defined as such in the original code

int thruster;
int speed;

void esc_init(int pin, int mode);
void escWriteMicroseconds(int pin, int value);
void escPinMode(uint8_t pin, uint8_t mode);

void thrusters_init();

void esc_spg()
{
    // Configure the servo pin
    esc_init(ESC_SERVO_PIN, OUTPUT);
    
    // Send stop signal to ESC
    escWriteMicroseconds(ESC_SERVO_PIN, 1500);

    // Define the value of the signal, ranging from 1100 to 1900; 1700 by default
    signal = 1700;

    // Send the signal to the ESC
    escWriteMicroseconds(ESC_SERVO_PIN, signal);

}

void esc_init(int pin, int mode)
{
    if (mode == DRIVE_INPUT)
    {
        // Implementation specific to the hardware for input mode
        // Configure the pin as an input for receiving PWM signal from Pixhawk
        // Initialize the necessary communication protocol for receiving PWM signals
        // Set up the appropriate interrupt or polling mechanism to read the PWM signal
        
        // Configure the pin as an input
        escPinMode(pin, INPUT);

        // Initialize the necessary communication protocol for receiving PWM signals
        // For example, if you are using a microcontroller with built-in PWM module, you would configure it here

        // Set up the appropriate interrupt or polling mechanism to read the PWM signal
        // Here, you would define the necessary interrupt handlers or polling logic to capture the PWM signal changes
    }
    else if (mode == DRIVE_OUTPUT) {
        // Implementation specific to the hardware for output mode
        // Configure the pin as an output for sending PWM signal to ESC
        // Initialize the necessary communication protocol for sending PWM signals
        // Set up the appropriate timing and duty cycle to generate the PWM signal
        // Connect the output pin to the ESC control input
        
        // Configure the pin as an output
        escPinMode(pin, OUTPUT);

        // Initialize the necessary communication protocol for sending PWM signals
        // For example, if you are using a microcontroller with built-in PWM module, you would configure it here

        // Set up the appropriate timing and duty cycle to generate the PWM signal
        // You would define the necessary code to set the desired timing and duty cycle for the PWM signal
        
        // Connect the output pin to the ESC control input
        // Here, you would connect the output pin to the appropriate ESC control input based on your hardware configuration
    }
}

// In this version, the Servo library is replaced with "escWriteMicroseconds" to control the servo motor.
void escWriteMicroseconds(int pin, int value) {
    // Write code to send a signal specific to the hardware
}

// Implementation of escPinMode function
void escPinMode(uint8_t pin, uint8_t mode) {
    // Implementation specific to the platform or library
    // Configure the pin mode based on the provided parameters
    // This implementation assumes the use of the Arduino framework
    
    // Example implementation using the Arduino framework
    // Here, the pin mode is set using the escPinMode function provided by the Arduino library
    // The implementation would vary based on the specific platform or library being used
}

void thrusters_spg() 
{
    thrusters_init();

    // Set the speed of the specified thruster
    switch (thruster) {
        case 1:
            escWriteMicroseconds(THRUSTER_1_PIN, speed);
            break;
        case 2:
            escWriteMicroseconds(THRUSTER_2_PIN, speed);
            break;
        case 3:
            escWriteMicroseconds(THRUSTER_3_PIN, speed);
            break;
        case 4:
            escWriteMicroseconds(THRUSTER_4_PIN, speed);
            break;
        case 5:
            escWriteMicroseconds(THRUSTER_5_PIN, speed);
            break;
        default:
            // Handle unsupported thruster number
            break;
    }
}

void thrusters_init()
 {
    // Initialize the ESC pins and modes for each thruster
    esc_init(THRUSTER_1_PIN, DRIVE_OUTPUT);
    esc_init(THRUSTER_2_PIN, DRIVE_OUTPUT);
    esc_init(THRUSTER_3_PIN, DRIVE_OUTPUT);
    esc_init(THRUSTER_4_PIN, DRIVE_OUTPUT);
    esc_init(THRUSTER_5_PIN, DRIVE_OUTPUT);
}